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Merge pull request #1316 from 708yamaguchi/jsk-fetch-melodic-master
Melodic support for jsk fetch
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3 changes: 2 additions & 1 deletion
3
jsk_fetch_robot/jsk_fetch_startup/apps/speak_battery/speak_battery.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,4 +1,5 @@ | ||
| <launch> | ||
| <node name="run_speak_battery" pkg="roseus" type="roseus" | ||
| args="$(find jsk_fetch_startup)/euslisp/speak-battery.l"/> | ||
| args="$(find jsk_fetch_startup)/euslisp/speak-battery.l" | ||
| output="screen" required="true" /> | ||
| </launch> |
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3 changes: 2 additions & 1 deletion
3
jsk_fetch_robot/jsk_fetch_startup/apps/time_signal/time_signal.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,4 @@ | ||
| <launch> | ||
| <node name="run_time_signal" pkg="jsk_fetch_startup" type="time_signal.py" output="screen"/> | ||
| <node name="run_time_signal" pkg="jsk_fetch_startup" type="time_signal.py" | ||
| output="screen" required="true" /> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
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@@ -19,3 +19,4 @@ | |
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| (ros::roseus "speak_battery") | ||
| (speak-battery) | ||
| (sys::exit 0) | ||
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| <launch> | ||
| <!-- add arg launch_teleop: yamaguchi & s-kitagawa (2019/04/19) --> | ||
| <arg name="launch_teleop" default="true" /> | ||
| <arg name="base_camera_mount" default="true" /> | ||
| <arg name="head_box" default="true" /> | ||
| <arg name="use_visual_odom" default="false" /> | ||
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| <!-- GDB Debug Option --> | ||
| <arg name="debug" default="false"/> | ||
| <arg unless="$(arg debug)" name="launch_prefix" value=""/> | ||
| <arg if="$(arg debug)" name="launch_prefix" value="gdb -x $(find fetch_bringup)/launch/gdb_settings.gdb --ex run --args"/> | ||
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| <!-- calibration: s-kitagawa (2019/12/11) --> | ||
| <!-- Calibration --> | ||
| <param name="calibration_date" value="2020-12-04 02:08:50"/> | ||
| <param name="base_controller/track_width" value="0.37476"/> | ||
| <param name="head_camera/driver/z_offset_mm" value="4"/> | ||
| <param name="head_camera/driver/z_scaling" value="1.0202112"/> | ||
| <!-- use symbolic link: s-kitagawa (2020/09/18) --> | ||
| <arg name="rgb_camera_info_url" default="file:///etc/ros/$(env ROS_DISTRO)/depth_latest.yaml"/> | ||
| <arg name="depth_camera_info_url" default="file:///etc/ros/$(env ROS_DISTRO)/depth_latest.yaml"/> | ||
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| <!-- Odometry --> | ||
| <param name="base_controller/publish_tf" value="false"/> | ||
| <!-- stop using graft: s-kitagawa (2019/10/17) --> | ||
| <!-- <include file="$(find fetch_bringup)/launch/include/graft.launch.xml"/> --> | ||
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| <!-- Odometry without visual odom --> | ||
| <!-- use robot localization ukf --> | ||
| <node pkg="robot_localization" type="ukf_localization_node" name="ukf_se" clear_params="true" unless="$(arg use_visual_odom)"> | ||
| <remap from="odometry/filtered" to="/odom_combined" /> | ||
| <rosparam> | ||
| frequency: 50 | ||
| sensor_timeout: 1.0 | ||
| two_d_mode: true | ||
| publish_tf: true | ||
| publish_acceleration: false | ||
| map_frame: map | ||
| odom_frame: odom | ||
| base_link_frame: base_link | ||
| odom0: /odom_corrected | ||
| odom0_config: [true, true, false, | ||
| false, false, true, | ||
| true, true, false, | ||
| false, false, true, | ||
| false, false, false] | ||
| odom0_nodelay: true | ||
| odom0_differential: true | ||
| </rosparam> | ||
| </node> | ||
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| <!-- Use Visual Odom --> | ||
| <include file="$(find jsk_fetch_startup)/launch/fetch_t265.launch" if="$(arg use_visual_odom)"> | ||
| <arg name="topic_odom_out" value="/odom_visual" /> | ||
| <arg name="odom_frame_id" value="odom" /> | ||
| <arg name="base_link_frame_id" value="base_link" /> | ||
| </include> | ||
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| <!-- /imu has no frame_id information and there is no bug fix release in indigo. --> | ||
| <!-- see https://github.com/fetchrobotics/fetch_ros/issues/70 --> | ||
| <node name="imu_corrector" pkg="jsk_fetch_startup" type="imu_corrector.py"> | ||
| <remap from="~input" to="/imu" /> | ||
| <remap from="~output" to="/imu_corrected" /> | ||
| </node> | ||
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| <!-- /odom has no covariance value. --> | ||
| <node name="odom_corrector" pkg="jsk_fetch_startup" type="odom_corrector.py"> | ||
| <remap from="~input" to="/odom" /> | ||
| <remap from="~output" to="/odom_corrected" /> | ||
| </node> | ||
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| <!-- calibration: s-kitagawa (2019/12/11) --> | ||
| <!-- testing urdf with head box by shinjo (2020/02/13) --> | ||
| <!-- URDF --> | ||
| <param name="robot_description" command="$(find xacro)/xacro $(find jsk_fetch_startup)/robots/jsk_fetch.urdf.xacro ros_distro:=$(env ROS_DISTRO) base_camera_mount:=$(arg base_camera_mount) head_box:=$(arg head_box)" /> | ||
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| <!-- Drivers for Base --> | ||
| <node name="robot_driver" launch-prefix="$(arg launch_prefix)" pkg="fetch_drivers" type="robot_driver" output="screen"> | ||
| <param name="firmware_tar_gz" value="$(find fetch_drivers)/firmware.tar.gz"/> | ||
| <param name="has_base" value="true"/> | ||
| <param name="has_torso" value="true"/> | ||
| <param name="has_head" value="true"/> | ||
| <param name="has_arm" value="true"/> | ||
| </node> | ||
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| <!-- Drivers for Gripper --> | ||
| <node name="gripper_driver" pkg="fetch_drivers" type="gripper_driver" output="screen"> | ||
| <param name="firmware_tar_gz" value="$(find fetch_drivers)/firmware.tar.gz"/> | ||
| </node> | ||
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| <!-- Controllers --> | ||
| <rosparam file="$(find fetch_bringup)/config/default_controllers.yaml" command="load"/> | ||
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| <!-- Joint State -> TF --> | ||
| <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/> | ||
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| <!-- Head Camera --> | ||
| <include file="$(find fetch_bringup)/launch/include/head_camera.launch.xml"> | ||
| <arg name="rgb_camera_info_url" value="$(arg rgb_camera_info_url)"/> | ||
| <arg name="depth_camera_info_url" value="$(arg depth_camera_info_url)"/> | ||
| </include> | ||
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| <!-- Laser --> | ||
| <include file="$(find fetch_bringup)/launch/include/laser.launch.xml"/> | ||
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| <!-- add arg launch_teleop: yamaguchi & s-kitagawa (2019/04/19) --> | ||
| <!-- Teleop --> | ||
| <include file="$(find fetch_bringup)/launch/include/teleop.launch.xml" if="$(arg launch_teleop)"/> | ||
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| <!-- enable software runstop from joy: s-kitagawa (2019/11/09) --> | ||
| <!-- Software Runstop --> | ||
| <include file="$(find fetch_bringup)/launch/include/runstop.launch.xml"> | ||
| <arg name="flags" value="-a -b -g -t"/> | ||
| </include> | ||
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| <!-- Diagnostics Aggregator --> | ||
| <include file="$(find fetch_bringup)/launch/include/aggregator.launch.xml"/> | ||
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| </launch> |
48 changes: 48 additions & 0 deletions
48
jsk_fetch_robot/jsk_fetch_startup/launch/fetch_t265.launch
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,48 @@ | ||
| <launch> | ||
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| <arg name="topic_odom_in" default="/t265/odom/sample" /> | ||
| <arg name="topic_odom_out" default="odom_visual" /> | ||
| <arg name="odom_frame_id" default="odom_visual" /> | ||
| <arg name="base_link_frame_id" default="base_link_virtual_2" /> | ||
| <arg name="base_link_virtual_frame_id" default="base_link_virtual" /> | ||
| <arg name="publish_tf" default="true" /> | ||
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| <node | ||
| pkg="tf" | ||
| type="static_transform_publisher" | ||
| name="t265_to_base_link_virtual_joint" | ||
| args="-0.441 -0.008 -0.225 0 0.524 0 t265_pose_frame $(arg base_link_virtual_frame_id) 10" | ||
| output="screen" | ||
| /> | ||
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| <node | ||
| pkg="jsk_fetch_startup" | ||
| type="odometry_transformer.py" | ||
| name="odometry_transformer" | ||
| output="screen" | ||
| > | ||
| <remap from="~odom_in" to="$(arg topic_odom_in)" /> | ||
| <remap from="~odom_out" to="$(arg topic_odom_out)" /> | ||
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| <param name="~frame_id_base_link" value="$(arg base_link_frame_id)" /> | ||
| <param name="~frame_id_base_link_virtual" value="$(arg base_link_virtual_frame_id)" /> | ||
| <param name="~frame_id_pose_frame" value="t265_pose_frame" /> | ||
| <param name="~frame_id_odom" value="$(arg odom_frame_id)" /> | ||
| <param name="~publish_tf" value="$(arg publish_tf)" /> | ||
| <param name="~2d_mode" value="true" /> | ||
| </node> | ||
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| <rosparam> | ||
| /t265/tracking_module/enable_mapping: false | ||
| /t265/tracking_module/enable_relocalization: false | ||
| /t265/tracking_module/enable_pose_jumping: false | ||
| /t265/tracking_module/enable_dynamic_calibration: true | ||
| /t265/tracking_module/enable_map_preservation: false | ||
| </rosparam> | ||
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| <include file="$(find realsense2_camera)/launch/rs_t265.launch" > | ||
| <arg name="camera" value="t265" /> | ||
| <arg name="publish_odom_tf" value="false" /> | ||
| </include> | ||
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| </launch> |
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